 
 ;; will return subtasks, if any (and create htn-methods as a side effect)
 ;; irks are the ks to get-in the ir for the method in question (initially nil)
-(defn make-htn-methods [ir pclass mname margs body & [irks]]
+(defn make-htn-methods [ir pclass mname display-name margs body & [irks]]
   (let [irks (conj (or irks [pclass :methods mname]) :body)
         n (count body)]
     (loop [subtasks [] i 0]

                  ;; (println " MHM" type "SUBTASKS" subtasks)
                  ;; work here
                  (htn-method {:pclass pclass :name mname
                               :nonprimitive-task nonprimitive-task
                               :subtasks subtasks
                               :subtask-constraints subtask-constraints

                              pc (first (filter #(= (:param %) param) pargs))
                              plant (:pclass pc)
                              plant-method (get-in ir [plant :methods method])]
                          (println "UNKNOWN PARAM" param ;; DEBUG
                            "PLANT" plant
                            "PLANT-METHOD" plant-method
                            "PC" pc)
                          (if (and plant-method pc)
                            pc ;; plant parameter
                            param)) ;; must be a method parameter
